git.gag.com Git - fw/altos/blob - altosui/AltosSerial.java

   1 /*
   2  * Copyright © 2010 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 /*
  19  * Deal with TeleDongle on a serial port
  20  */
  21
  22 package altosui;
  23
  24 import java.lang.*;
  25 import java.io.*;
  26 import java.util.concurrent.*;
  27 import java.util.*;
  28 import java.text.*;
  29 import java.awt.*;
  30 import java.awt.event.*;
  31 import javax.swing.*;
  32 import javax.swing.filechooser.FileNameExtensionFilter;
  33 import javax.swing.table.*;
  34
  35 import libaltosJNI.*;
  36
  37 /*
  38  * This class reads from the serial port and places each received
  39  * line in a queue. Dealing with that queue is left up to other
  40  * threads.
  41  */
  42
  43 public class AltosSerial implements Runnable {
  44
  45         static java.util.List<String> devices_opened = Collections.synchronizedList(new LinkedList<String>());
  46
  47         AltosDevice device;
  48         SWIGTYPE_p_altos_file altos;
  49         LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
  50         LinkedBlockingQueue<AltosLine> reply_queue;
  51         Thread input_thread;
  52         String line;
  53         byte[] line_bytes;
  54         int line_count;
  55         boolean monitor_mode;
  56         int telemetry;
  57         int channel;
  58         static boolean debug;
  59         boolean remote;
  60         LinkedList<String> pending_output = new LinkedList<String>();
  61         Frame frame;
  62
  63         static void set_debug(boolean new_debug) {
  64                 debug = new_debug;
  65         }
  66
  67         public void run () {
  68                 int c;
  69
  70                 try {
  71                         for (;;) {
  72                                 c = libaltos.altos_getchar(altos, 0);
  73                                 if (Thread.interrupted())
  74                                         break;
  75                                 if (c == libaltosConstants.LIBALTOS_ERROR) {
  76                                         for (int e = 0; e < monitors.size(); e++) {
  77                                                 LinkedBlockingQueue<AltosLine> q = monitors.get(e);
  78                                                 q.put(new AltosLine());
  79                                         }
  80                                         reply_queue.put (new AltosLine());
  81                                         break;
  82                                 }
  83                                 if (c == libaltosConstants.LIBALTOS_TIMEOUT)
  84                                         continue;
  85                                 if (c == '\r')
  86                                         continue;
  87                                 synchronized(this) {
  88                                         if (c == '\n') {
  89                                                 if (line_count != 0) {
  90                                                         try {
  91                                                                 line = new String(line_bytes, 0, line_count, "UTF-8");
  92                                                         } catch (UnsupportedEncodingException ue) {
  93                                                                 line = "";
  94                                                                 for (int i = 0; i < line_count; i++)
  95                                                                         line = line + line_bytes[i];
  96                                                         }
  97                                                         if (debug)
  98                                                                 System.out.printf("\t\t\t\t\t%s\n", line);
  99                                                         if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
 100                                                                 for (int e = 0; e < monitors.size(); e++) {
 101                                                                         LinkedBlockingQueue<AltosLine> q = monitors.get(e);
 102                                                                         q.put(new AltosLine (line));
 103                                                                 }
 104                                                         } else {
 105                                                                 reply_queue.put(new AltosLine (line));
 106                                                         }
 107                                                         line_count = 0;
 108                                                         line = "";
 109                                                 }
 110                                         } else {
 111                                                 if (line_bytes == null) {
 112                                                         line_bytes = new byte[256];
 113                                                 } else if (line_count == line_bytes.length) {
 114                                                         byte[] new_line_bytes = new byte[line_count * 2];
 115                                                         System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
 116                                                         line_bytes = new_line_bytes;
 117                                                 }
 118                                                 line_bytes[line_count] = (byte) c;
 119                                                 line_count++;
 120                                         }
 121                                 }
 122                         }
 123                 } catch (InterruptedException e) {
 124                 }
 125         }
 126
 127         public void flush_output() {
 128                 if (altos != null) {
 129                         for (String s : pending_output)
 130                                 System.out.print(s);
 131                         pending_output.clear();
 132                         libaltos.altos_flush(altos);
 133                 }
 134         }
 135
 136         boolean         abort;
 137         JDialog         timeout_dialog;
 138         boolean timeout_started = false;
 139
 140         private void stop_timeout_dialog() {
 141                 if (timeout_started) {
 142                         timeout_started = false;
 143                         Runnable r = new Runnable() {
 144                                         public void run() {
 145                                                 timeout_dialog.setVisible(false);
 146                                         }
 147                                 };
 148                         SwingUtilities.invokeLater(r);
 149                 }
 150         }
 151
 152         private void start_timeout_dialog_internal() {
 153
 154                 Object[] options = { "Cancel" };
 155
 156                 JOptionPane     pane = new JOptionPane();
 157                 pane.setMessage(String.format("Connecting to %s", device.getPath()));
 158                 pane.setOptions(options);
 159                 pane.setInitialValue(null);
 160
 161                 timeout_dialog = pane.createDialog(frame, "Connecting...");
 162
 163                 timeout_dialog.setVisible(true);
 164
 165                 Object o = pane.getValue();
 166                 if (o == null)
 167                         return;
 168                 if (options[0].equals(o))
 169                         abort = true;
 170                 timeout_dialog.dispose();
 171                 timeout_dialog = null;
 172         }
 173
 174         private boolean check_timeout() {
 175                 if (!timeout_started && frame != null) {
 176                         if (!SwingUtilities.isEventDispatchThread()) {
 177                                 timeout_started = true;
 178                                 Runnable r = new Runnable() {
 179                                                 public void run() {
 180                                                         start_timeout_dialog_internal();
 181                                                 }
 182                                         };
 183                                 SwingUtilities.invokeLater(r);
 184                         }
 185                 }
 186                 return abort;
 187         }
 188
 189         public void flush_input() {
 190                 flush_output();
 191                 boolean got_some;
 192
 193                 int timeout = 100;
 194                 if (remote)
 195                         timeout = 500;
 196                 do {
 197                         try {
 198                                 Thread.sleep(timeout);
 199                         } catch (InterruptedException ie) {
 200                         }
 201                         got_some = !reply_queue.isEmpty();
 202                         synchronized(this) {
 203                                 if (!"VERSION".startsWith(line) &&
 204                                     !line.startsWith("VERSION"))
 205                                         line = "";
 206                                 reply_queue.clear();
 207                         }
 208                 } while (got_some);
 209         }
 210
 211         public String get_reply() throws InterruptedException {
 212                 if (SwingUtilities.isEventDispatchThread())
 213                         System.out.printf("Uh-oh, reading serial device from swing thread\n");
 214                 flush_output();
 215                 AltosLine line = reply_queue.take();
 216                 return line.line;
 217         }
 218
 219         int     in_reply;
 220
 221         public String get_reply(int timeout) throws InterruptedException {
 222                 boolean can_cancel = true;
 223                 ++in_reply;
 224
 225                 if (SwingUtilities.isEventDispatchThread()) {
 226                         can_cancel = false;
 227                         System.out.printf("Uh-oh, reading serial device from swing thread\n");
 228                 }
 229                 flush_output();
 230                 if (remote && can_cancel) {
 231                         timeout = 500;
 232                 }
 233                 abort = false;
 234                 timeout_started = false;
 235                 for (;;) {
 236                         System.out.printf("timeout %d\n", timeout);
 237                         AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 238                         if (line != null) {
 239                                 stop_timeout_dialog();
 240                                 --in_reply;
 241                                 return line.line;
 242                         }
 243                         System.out.printf("no line remote %b can_cancel %b\n", remote, can_cancel);
 244                         if (!remote || !can_cancel || check_timeout()) {
 245                                 --in_reply;
 246                                 return null;
 247                         }
 248                 }
 249         }
 250
 251         public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
 252                 flush_output();
 253                 AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
 254                 if (line != null)
 255                         return line.line;
 256                 return null;
 257         }
 258
 259         public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
 260                 set_monitor(true);
 261                 monitors.add(q);
 262         }
 263
 264         public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
 265                 monitors.remove(q);
 266                 if (monitors.isEmpty())
 267                         set_monitor(false);
 268         }
 269
 270         public void close() {
 271                 if (in_reply != 0)
 272                         System.out.printf("Uh-oh. Closing active serial device\n");
 273
 274                 if (altos != null) {
 275                         libaltos.altos_close(altos);
 276                 }
 277                 if (input_thread != null) {
 278                         try {
 279                                 input_thread.interrupt();
 280                                 input_thread.join();
 281                         } catch (InterruptedException e) {
 282                         }
 283                         input_thread = null;
 284                 }
 285                 if (altos != null) {
 286                         libaltos.altos_free(altos);
 287                         altos = null;
 288                 }
 289                 synchronized (devices_opened) {
 290                         devices_opened.remove(device.getPath());
 291                 }
 292                 if (debug)
 293                         System.out.printf("Closing %s\n", device.getPath());
 294         }
 295
 296         private void putc(char c) {
 297                 if (altos != null)
 298                         libaltos.altos_putchar(altos, c);
 299         }
 300
 301         public void print(String data) {
 302                 if (debug)
 303                         pending_output.add(data);
 304                 for (int i = 0; i < data.length(); i++)
 305                         putc(data.charAt(i));
 306         }
 307
 308         public void printf(String format, Object ... arguments) {
 309                 print(String.format(format, arguments));
 310         }
 311
 312         private void open() throws FileNotFoundException, AltosSerialInUseException {
 313                 synchronized (devices_opened) {
 314                         if (devices_opened.contains(device.getPath()))
 315                                 throw new AltosSerialInUseException(device);
 316                         devices_opened.add(device.getPath());
 317                 }
 318                 altos = device.open();
 319                 if (altos == null) {
 320                         close();
 321                         throw new FileNotFoundException(device.toShortString());
 322                 }
 323                 if (debug)
 324                         System.out.printf("Open %s\n", device.getPath());
 325                 input_thread = new Thread(this);
 326                 input_thread.start();
 327                 print("~\nE 0\n");
 328                 set_monitor(false);
 329                 flush_output();
 330         }
 331
 332         public void set_radio() {
 333                 telemetry = AltosPreferences.telemetry(device.getSerial());
 334                 channel = AltosPreferences.channel(device.getSerial());
 335                 set_channel(channel);
 336                 set_callsign(AltosPreferences.callsign());
 337         }
 338
 339         private int telemetry_len() {
 340                 return Altos.telemetry_len(telemetry);
 341         }
 342
 343         public void set_channel(int in_channel) {
 344                 channel = in_channel;
 345                 if (altos != null) {
 346                         if (monitor_mode)
 347                                 printf("m 0\nc r %d\nm %x\n",
 348                                        channel, telemetry_len());
 349                         else
 350                                 printf("c r %d\n", channel);
 351                         flush_output();
 352                 }
 353         }
 354
 355         public void set_telemetry(int in_telemetry) {
 356                 telemetry = in_telemetry;
 357                 if (altos != null) {
 358                         if (monitor_mode)
 359                                 printf("m 0\nm %x\n", telemetry_len());
 360                         flush_output();
 361                 }
 362         }
 363
 364         void set_monitor(boolean monitor) {
 365                 monitor_mode = monitor;
 366                 if (altos != null) {
 367                         if (monitor)
 368                                 printf("m %x\n", telemetry_len());
 369                         else
 370                                 printf("m 0\n");
 371                         flush_output();
 372                 }
 373         }
 374
 375         public void set_callsign(String callsign) {
 376                 if (altos != null) {
 377                         printf ("c c %s\n", callsign);
 378                         flush_output();
 379                 }
 380         }
 381
 382         public void start_remote() {
 383                 if (debug)
 384                         System.out.printf("start remote\n");
 385                 set_radio();
 386                 printf("p\nE 0\n");
 387                 flush_input();
 388                 remote = true;
 389         }
 390
 391         public void stop_remote() {
 392                 if (debug)
 393                         System.out.printf("stop remote\n");
 394                 try {
 395                         flush_input();
 396                 } finally {
 397                         printf ("~\n");
 398                         flush_output();
 399                 }
 400                 remote = false;
 401         }
 402
 403         public void set_frame(Frame in_frame) {
 404                 frame = in_frame;
 405         }
 406
 407         public AltosSerial(AltosDevice in_device) throws FileNotFoundException, AltosSerialInUseException {
 408                 device = in_device;
 409                 line = "";
 410                 monitor_mode = false;
 411                 frame = null;
 412                 telemetry = Altos.ao_telemetry_standard;
 413                 monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
 414                 reply_queue = new LinkedBlockingQueue<AltosLine> ();
 415                 open();
 416         }
 417 }